Surgical grasper with articulated fingers

Abstract

Surgical apparatus including a support rod having proximal and distal ends; at least one articulated finger at the distal end of the support rod; a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user; a connecting member connecting the finger grip and the finger; a thumb being disposed at the distal end of the support rod opposite the finger, a spring biasing the finger toward a retracted position; and the finger being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the finger moves in a defined manner toward the thumb for grasping an object. In a modified embodiment, a plurality of fingers are provided for opening up an internal space in a body or to grasp a body part to facilitate other surgical procedures.

What is claimed is: 
     
       1. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the articulated fingers;   a thumb being disposed at the distal end opposite the fingers;   a spring biasing the fingers toward a retracted position;   a spring element disposed between adjacent fingers for biasing said fingers away from each other; and   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner toward the thumb for grasping an object.   
     
     
       2. The surgical apparatus recited in claim 1, wherein each finger comprises a plurality of sections connected by pivot joints, the connecting member being routed such that it is restrained against normal forces adjacent the finger sections and passing unrestrained against normal forces adjacent the joints, the connecting member being secured at a distalmost one of the finger sections. 
     
     
       3. The surgical apparatus recited in claim 2, wherein the spring comprises a longitudinally extending wire or coil spring extending along the finger sections, the spring being restrained against normal forces at the finger sections and passing unrestrained against normal forces at the joints between the finger sections. 
     
     
       4. The surgical apparatus recited in claim 3, wherein the longitudinally extending spring is restrained in longitudinally extending bores in the finger sections, but is permitted to slide in at least some of said bores. 
     
     
       5. The surgical apparatus recited in claim 3, wherein the connecting member and longitudinally extending spring are disposed in sheaths extending along and attached to the finger sections. 
     
     
       6. The surgical apparatus recited in claim 5, wherein the connecting member and spring are exposed adjacent the joints between finger sections. 
     
     
       7. The surgical apparatus recited in claim 2, wherein the finger sections have grasping surfaces thereon to facilitate gripping. 
     
     
       8. The surgical apparatus recited in claim 2, wherein the connecting member is restrained in slots in the finger sections, but is permitted to slide in at least some of said slots. 
     
     
       9. The surgical apparatus recited in claim 2, wherein each finger comprises at least three sections, with one of the sections comprising a hinge member where each finger is pivotally coupled to the support rod. 
     
     
       10. The surgical apparatus recited in claim 1, wherein the finger grip is slidably disposed on a support element disposed in a generally open handle adapted for receiving the fingers of a user. 
     
     
       11. The surgical apparatus recited in claim 1, further wherein the support rod has a bore provided for routing a filament to a surgical site for the performance of an additional function. 
     
     
       12. The surgical apparatus recited in claim 11, further comprising a filament in the bore of the support rod and wherein the filament comprises an optical fiber for one of illumination, providing a laser beam to the surgical site or providing a viewing signal back to a display monitor. 
     
     
       13. The surgical apparatus recited in claim 11, further comprising a filament in the bore of the support rod and wherein the filament is provided for controlling a surgical instrument. 
     
     
       14. The surgical apparatus recited in claim 1, wherein the connecting member comprises a wire or cable. 
     
     
       15. Surgical apparatus comprising: a support rod having proximal and distal ends;   at least one articulated finger at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the articulated finger;   a thumb being disposed at the distal end opposite the finger;   a spring biasing the finger toward a retracted position;   the finger being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the finger moves in a defined manner toward the thumb for grasping an object; and   further comprising a sleeve extending over said support rod, the sleeve being slidable over the support rod and wherein said thumb and articulated finger are pivotally mounted on the support rod, the sleeve being slidable so as to force said thumb and said articulated finger into a fully open retracted position wherein the thumb and finger extend longitudinally in line with said support rod, the sleeve being slidable to cover said thumb and finger in the retracted position to facilitate entry of the distal end into an opening in a body for a surgical procedure.   
     
     
       16. The surgical apparatus recited in claim 15, wherein the connecting member is routed in a groove disposed in the support rod, the connecting member being constrained in the groove by the sleeve. 
     
     
       17. The surgical apparatus recited in claim 15, wherein the thumb is pivotable into a slot in the support rod when the sleeve forces the thumb into the retracted position. 
     
     
       18. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the articulated fingers;   a thumb being disposed at the distal end opposite the fingers;   a spring biasing the fingers toward a retracted position;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner toward the thumb for grasping an object; and   further comprising netting extending between fingers for facilitating holding objects.   
     
     
       19. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   a spring biasing the fingers toward a retracted position;   a spring element disposed between adjacent fingers for biasing said fingers away from each other; and   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation.   
     
     
       20. The surgical apparatus recited in claim 19, wherein each finger comprises a plurality of sections connected by pivot joints, the connecting member being routed such that it is restrained against normal forces adjacent the finger sections and passing unrestrained against normal forces adjacent the joints, the connecting member being secured at a distalmost one of the finger sections. 
     
     
       21. The surgical apparatus recited in claim 20, wherein the spring comprises a longitudinally extending wire or coil spring extending along the finger sections, the spring being restrained against normal forces by the finger sections and passing unrestrained against normal forces at the joints between the finger sections. 
     
     
       22. The surgical apparatus recited in claim 21, wherein the longitudinally extending spring is restrained in longitudinally extending bores in the finger sections, but is permitted to slide in at least some of said bores. 
     
     
       23. The surgical apparatus recited in claim 21, wherein the connecting member and longitudinally extending spring are disposed in sheaths extending along and attached to the finger sections. 
     
     
       24. The surgical apparatus recited in claim 23, wherein the connecting member and spring are exposed adjacent joints between finger sections. 
     
     
       25. The surgical apparatus recited in claim 20, wherein the connecting member is restrained in slots in the finger sections but is permitted to slide in at least some of said slots. 
     
     
       26. The surgical apparatus recited in claim 20, wherein each finger comprises at least three sections, with one of the sections comprising a hinge member where the finger is pivotally coupled to the support rod. 
     
     
       27. The surgical apparatus recited in claim 9, wherein the finger grip is slidably disposed on a support element in a generally open handle adapted for receiving the fingers of a user. 
     
     
       28. The surgical apparatus recited in claim 27, wherein the finger grip comprises a plurality of finger grip portions, one for each finger. 
     
     
       29. The surgical apparatus recited in claim 28, wherein the connecting member comprises a separate connecting member for each finger. 
     
     
       30. The surgical apparatus recited in claim 19, further wherein the support rod has a bore provided for routing a filament to a surgical site for the performance of an additional function. 
     
     
       31. The surgical apparatus recited in claim 30, further comprising a filament in the bore of the support rod and wherein the filament comprises an optical fiber for one of illumination, providing a laser beam to the surgical site or providing a viewing signal back to a display monitor. 
     
     
       32. The surgical apparatus recited in claim 30, further comprising a filament in the bore of the support rod and wherein the filament is provided for controlling a surgical instrument. 
     
     
       33. The surgical apparatus recited in claim 19, wherein the fingers can be moved by the finger grip to generate a space between the fingers defining one of a cone, bell-shape, frusto conical shape and cylinder. 
     
     
       34. The surgical apparatus recited in claim 19, wherein the connecting member comprises a wire or cable. 
     
     
       35. The surgical apparatus recited in claim 19, wherein the fingers are also adapted to grasp a body part for stabilizing the body part for a surgical procedure. 
     
     
       36. The surgical apparatus recited in claim 35, wherein the fingers are provided with suction tips for facilitating grasping of a body part. 
     
     
       37. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   a spring biasing the fingers toward a retracted position;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation; and   further comprising a sleeve extending over said support rod, the sleeve being slidable over the support rod and wherein said fingers are pivotally mounted in the support rod, the sleeve being slidable so as to force said fingers into a fully open retracted position wherein the fingers extend longitudinally in line with said support rod, the sleeve being slidable to cover said fingers in the retracted position to facilitate entry of the distal end into an opening in a body for a surgical procedure.   
     
     
       38. The surgical apparatus recited in claim 37, wherein the connecting member is routed in a groove disposed in the support rod, the connecting member being constrained in the groove by the sleeve. 
     
     
       39. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   a spring biasing the fingers toward a retracted position;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation; and   further comprising wires or netting extending between adjacent ones of said fingers for facilitating maintaining said space between the fingers and preventing entry of internal body parts into said space.   
     
     
       40. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of articulated fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   a spring biasing the fingers toward a retracted position;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner against the bias of the spring to allow the fingers to grasp an object therebetween to facilitate a surgical operation; and   wires or netting extending between adjacent fingers for facilitating maintaining a space between the fingers and preventing entry of internal body parts into the space.   
     
     
       41. The surgical apparatus recited in claim 40, wherein the fingers are provided with suction tips for facilitating grasping of an object. 
     
     
       42. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the flexible fingers;   a thumb being disposed at the distal end opposite the fingers;   a spring element disposed between adjacent fingers for biasing said fingers away from each other; and   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner toward the thumb for grasping an object.   
     
     
       43. The surgical apparatus recited in claim 42, wherein the flexible finger comprises articulated fingers. 
     
     
       44. The surgical apparatus recited in claim 42, further comprises a spring biasing each finger toward a retracted position. 
     
     
       45. The surgical apparatus recited in claim 42, wherein the finger grip is slidably disposed on a support element disposed in a generally open handle adapted for receiving the fingers of a user. 
     
     
       46. The surgical apparatus recited in claim 42, wherein the connecting member is disposed in a bore in each flexible finger. 
     
     
       47. The surgical apparatus recited in claim 42, further wherein the support rod has a bore provided for routing a filament to a surgical site for the performance of an additional function. 
     
     
       48. The surgical apparatus recited in claim 47, further comprising a filament in the bore of the support rod and wherein the filament comprises an optical fiber for one of illumination, providing a laser beam to the surgical site or providing a viewing signal back to a display monitor. 
     
     
       49. The surgical apparatus recited in claim 47, further comprising a filament in the bore of the support rod and wherein the filament is provided for controlling a surgical instrument. 
     
     
       50. The surgical apparatus recited in claim 42, wherein the connecting member comprises a wire or cable. 
     
     
       51. Surgical apparatus comprising: a support rod having proximal and distal ends;   at least one flexible finger at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the flexible finger;   a thumb being disposed at the distal end opposite the finger;   the finger being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the finger moves in a defined manner toward the thumb for grasping an object; and   further comprising a sleeve extending over said support rod, the sleeve being slidable over the support rod and wherein said thumb and flexible finger are pivotally mounted on the support rod, the sleeve being slidable so as to force said thumb and said flexible finger into a fully open retracted position wherein the thumb and finger extend longitudinally in line with said support rod, the sleeve being slidable to cover said thumb and finger in the retracted position to facilitate entry of the distal end into an opening in a body for a surgical procedure.   
     
     
       52. The surgical apparatus recited in claim 51, wherein the connecting member is routed in a groove disposed in the support rod, the connecting member being constrained in the groove by the sleeve. 
     
     
       53. The surgical apparatus recited in claim 51, wherein the thumb is pivotable into a recess in the support rod when the sleeve forces the thumb into the retracted position. 
     
     
       54. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   a connecting member connecting the finger grip and the flexible fingers;   a thumb being disposed at the distal end opposite the fingers;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner toward the thumb for grasping an object; and   further comprising netting extending between fingers for facilitating holding objects.   
     
     
       55. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   a spring element disposed between adjacent fingers for biasing said fingers away from each other; and   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation.   
     
     
       56. The surgical apparatus recited in claim 55, wherein the flexible fingers each comprise articulated fingers. 
     
     
       57. The surgical apparatus recited in claim 55, further comprising a spring biasing the fingers toward a retracted position. 
     
     
       58. The surgical apparatus recited in claim 55, wherein the finger grip is slidably disposed on a support element in a generally open handle adapted for receiving the fingers of a user. 
     
     
       59. The surgical apparatus recited in claim 58, wherein the finger grip comprises a plurality of finger grip portions, one for each finger. 
     
     
       60. The surgical apparatus recited in claim 55, wherein the connecting member is routed in a groove disposed in the support rod, the connecting member being constrained in the groove by the sleeve. 
     
     
       61. The surgical apparatus recited in claim 60, wherein the connecting member comprises a separate connecting member for each finger. 
     
     
       62. The surgical apparatus recited in claim 55, wherein the connecting member comprising a plurality of connecting members slidably restrained in bores in each finger. 
     
     
       63. The surgical apparatus recited in claim 55, further wherein the support rod has a bore provided for routing a filament to a surgical site for the performance of an additional function. 
     
     
       64. The surgical apparatus recited in claim 63, further comprising a filament in the bore of the support rod and wherein the filament comprises an optical fiber for one of illumination, providing a laser beam to the surgical site or providing a viewing signal back to a display monitor. 
     
     
       65. The surgical apparatus recited in claim 63, further comprising a filament in the bore of the support rod and wherein the filament is provided for controlling a surgical instrument. 
     
     
       66. The surgical apparatus recited in claim 55, wherein the fingers can be moved by the finger grip to generate a space between the fingers defining one of a cone, bell-shape, frusto conical shape and cylinder. 
     
     
       67. The surgical apparatus recited in claim 55, wherein the connecting member comprises a wire or cable. 
     
     
       68. The surgical apparatus recited in claim 55, wherein the fingers are also adapted to grasp a body part for stabilizing the body part for a surgical procedure. 
     
     
       69. The surgical apparatus recited in claim 68, wherein the fingers are provided with suction tips for facilitating grasping of a body part. 
     
     
       70. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation; and   further comprising a sleeve extending over said support rod, the sleeve being slidable over the support rod and wherein said flexible fingers are pivotally mounted in the support rod, the sleeve being slidable so as to force said flexible fingers into a fully open retracted position wherein the fingers extend longitudinally in line with said support rod, the sleeve being slidable to cover said fingers in the retracted position to facilitate entry of the distal end into an opening in a body for a surgical procedure.   
     
     
       71. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner away from each other to generate a space between the fingers to facilitate a surgical operation; and   further comprising wires or netting extending between adjacent ones of said fingers for facilitating maintaining said space between the fingers and preventing entry of internal body parts into said space.   
     
     
       72. Surgical apparatus comprising: a support rod having proximal and distal ends;   a plurality of flexible fingers at the distal end of the support rod;   a handle at the proximal end of the support rod, the handle having a finger grip adapted to be actuated by the hand of a user;   at least one connecting member connecting the finger grip and the fingers;   the fingers being responsive to a tension in the connecting member exerted by movement of the finger grip whereby the fingers move in a defined manner to allow the fingers to grasp an object therebetween to facilitate a surgical operation; and   wires or netting extending between adjacent fingers for facilitating maintaining a space between the fingers and preventing entry of internal body parts into the space.   
     
     
       73. The surgical apparatus recited in claim 72, wherein the fingers are provided with suction tips for facilitating grasping of an object.